EP4260676A1 - Robot lawnmower with off-axis driving motor - Google Patents

Robot lawnmower with off-axis driving motor Download PDF

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Publication number
EP4260676A1
EP4260676A1 EP23164541.7A EP23164541A EP4260676A1 EP 4260676 A1 EP4260676 A1 EP 4260676A1 EP 23164541 A EP23164541 A EP 23164541A EP 4260676 A1 EP4260676 A1 EP 4260676A1
Authority
EP
European Patent Office
Prior art keywords
driving wheel
motor
robot lawnmower
rotation axis
bracket
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP23164541.7A
Other languages
German (de)
French (fr)
Inventor
Mr. Marco VILLANOVA
Roberto FIOR
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Stiga SpA
Original Assignee
Stiga SpA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Stiga SpA filed Critical Stiga SpA
Publication of EP4260676A1 publication Critical patent/EP4260676A1/en
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/67—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator
    • A01D34/68—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/67—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator
    • A01D34/68—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels
    • A01D34/69—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels with motor driven wheels
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/81—Casings; Housings
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
    • A01D69/02—Driving mechanisms or parts thereof for harvesters or mowers electric
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/67—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator
    • A01D34/68—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels
    • A01D34/6806—Driving mechanisms
    • A01D2034/6837—Drive connections
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D2101/00—Lawn-mowers

Definitions

  • the present invention relates to a robot lawnmower with an off-axis driving motor.
  • the robot lawnmower is to have good power autonomy, a sufficiently broad cutting deck and efficient driving motors.
  • robot lawnmowers have an electric motor for each of the two driving wheels, wherein the electric motor is in axis with the respective driving wheel, i.e., the rotation axis of the rotor of the electric motor coincides with the rotation axis of the driving wheel.
  • the body of the electric motor is integral with the base frame of the robot lawnmower.
  • the in axis mounting of the driving motors forces the cutting deck to be moved forwards, increasing the length of the robot lawnmower.
  • WO-2016/185127 describes a lawnmower comprising a base frame and two driving wheels driven by a single electric motor by means of a transmission comprising a pinion which meshes with a crown gear of a driving wheel.
  • the rotation axis of the pinion coincident with the rotation axis of the transmission shaft, is parallel to the rotation axis of the driving wheel but distinct therefrom.
  • the rotation axis of the crankshaft of the motor is parallel to but distinct from the rotation axis of the transmission shaft, i.e., it is distinct from the rotation axis of the pinion.
  • EP-3183949 describes a robot lawnmower comprising a base frame and two driving wheels, wherein each driving wheel is driven by a respective electric motor.
  • the robot lawnmower not to provide a cutting deck with reduced sizes.
  • the sizes of the recess in which the cutting deck is accommodated are not affected by the presence of the motors adapted to drive the driving wheels.
  • the robot lawnmower may be designed with the cutting deck centered between the driving wheels, with an optimal distribution of the weight and reduced longitudinal sizes of the robot lawnmower.
  • a robot lawnmower with reduced sizes is obtained, cutting deck sizes being equal, with performing motors which do not affect the volume on the ground of the robot lawnmower.
  • connection to the base frame is simple (by means of a common bracket); the mechanical connections are elementary (pinion and crown gear) and easily controllable for effective maintenance.
  • a robot lawnmower 1 comprises a base frame 2, a cover (not shown) associated with the base frame 2, two driving wheels 3 and at least one directional idler wheel 4 ( Figures 1-3 ).
  • Each driving wheel 3 is driven by a respective electric motor 5 by means of a pinion 51 which meshes with a crown gear 32 of the driving wheel 3 ( Figures 4 and 5 ).
  • Motor 5 is fixed to a bracket 7 to which the driving wheel 3 is rotatably fixed by means of a hub 31 which is integral with bracket 7 and extends outwards from bracket 7, as shown in Figure 4 , for example.
  • Bracket 7 is integral with the base frame 2 which provides a recess 21 for a cutting deck 22 comprising one or more cutting blades.
  • the axis of hub 31 corresponds to the rotation axis X2 of the driving wheel 3, wherein the driving wheel 3 is rotatably mounted on hub 31 by means of a bearing 33 ( Figure 4 ).
  • the rotation axis X1 of pinion 51 is parallel to the rotation axis X2 of the driving wheel 3 but separate therefrom, i.e. motor 5 is not in axis with the driving wheel 3, i.e. motor 5 is off-axis with respect to the driving wheel 3.
  • the rotation axis X1 of pinion 51 coincides with the rotation axis of the crankshaft of motor 5, i.e., advantageously complicated transmissions are not provided between the crankshaft of motor 5 and pinion 51 which directly receives the rotary driving motion of the crankshaft of motor 5 without changing the rotation axis.
  • Bracket 7 extends upwards so that motor 5 can be mounted in a high position of bracket 7, extending inwards, above the base frame 2, in particular above recess 21.
  • hub 31 may be integral with the driving wheel 3 and rotate with respect to bracket 7, i.e., the position of the bearing 33 may vary, motor 5 in any case remaining off-axis.
  • the sizes of recess 21 in which the cutting deck 22 is accommodated are not affected by the presence of the motors 5 adapted to drive the driving wheels 3.
  • the robot lawnmower 1 may be designed with the cutting deck 22 centered between the driving wheels 3, with an optimal distribution of the weight and reduced longitudinal sizes of the robot lawnmower 1.
  • a robot lawnmower 1 with reduced sizes is obtained, cutting deck 22 sizes being equal, with performing motors 5 which do not affect the volume on the ground of the robot lawnmower 1.
  • connection to the base frame 2 is simple (by means of a common bracket 7); the mechanical connections are elementary (pinion 51 and crown gear 32) and easily controllable for effective maintenance.
  • bump damping means may be provided which allow the rotation of bracket 7 (and therefore of the driving wheel 3) with respect to the base frame 2, with elastic means adapted to keep bracket 7 in equilibrium.
  • the damping means may be associated with the cover by means of the connection between the cover and the base frame 2.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Harvester Elements (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)

Abstract

There is described a robot lawnmower (1) comprising a base frame (2), two driving wheels (3) and at least one directional idler wheel (4), wherein each driving wheel (3) is driven by a respective electric motor (5). Each motor (5) comprises a pinion (51) which engages a crown gear (32) of the driving wheel (3). The motor (5) is fixed to a bracket (7) to which the driving wheel (3) is rotatably fixed. The rotation axis (X1) of the pinion (51) is parallel to the rotation axis (X2) of the driving wheel (3) but distinct therefrom, the motor (5) being off-axis with respect to the driving wheel (3). (Fig. 1).

Description

  • The present invention relates to a robot lawnmower with an off-axis driving motor.
  • The use of autonomous robot lawnmowers having different sizes based on the surface of the lawn and user needs in terms of volume occupied by the robot lawnmower is increasingly common in the field of gardening.
  • The robot lawnmower is to have good power autonomy, a sufficiently broad cutting deck and efficient driving motors.
  • Generally, robot lawnmowers have an electric motor for each of the two driving wheels, wherein the electric motor is in axis with the respective driving wheel, i.e., the rotation axis of the rotor of the electric motor coincides with the rotation axis of the driving wheel. The body of the electric motor is integral with the base frame of the robot lawnmower.
  • Examples of robot lawnmower with in axis motors are shown in EP-3157803B1 and US-11169542B2 .
  • Disadvantageously, the in axis mounting of the driving motors forces the cutting deck to be moved forwards, increasing the length of the robot lawnmower.
  • Alternatively, it would be necessary to widen the robot lawnmower or reduce the sizes of the cutting deck, with consequent decrease in the cutting efficiency.
  • WO-2016/185127 describes a lawnmower comprising a base frame and two driving wheels driven by a single electric motor by means of a transmission comprising a pinion which meshes with a crown gear of a driving wheel. The rotation axis of the pinion, coincident with the rotation axis of the transmission shaft, is parallel to the rotation axis of the driving wheel but distinct therefrom. The rotation axis of the crankshaft of the motor is parallel to but distinct from the rotation axis of the transmission shaft, i.e., it is distinct from the rotation axis of the pinion.
  • EP-3183949 describes a robot lawnmower comprising a base frame and two driving wheels, wherein each driving wheel is driven by a respective electric motor.
  • It is the object of the present invention to provide a robot lawnmower with limited volume which maintains the same cutting efficiency.
  • It is the further object of the present invention for the robot lawnmower not to provide a cutting deck with reduced sizes.
  • It is a further object again of the present invention for the robot lawnmower to use conventional driving motors without particular construction and coupling complications with the driving wheels.
  • According to the invention, said and further objects are achieved by a robot lawnmower as defined in claim 1.
  • Advantageously, the sizes of the recess in which the cutting deck is accommodated are not affected by the presence of the motors adapted to drive the driving wheels.
  • Therefore, the robot lawnmower may be designed with the cutting deck centered between the driving wheels, with an optimal distribution of the weight and reduced longitudinal sizes of the robot lawnmower.
  • Advantageously, a robot lawnmower with reduced sizes is obtained, cutting deck sizes being equal, with performing motors which do not affect the volume on the ground of the robot lawnmower.
  • The connection to the base frame is simple (by means of a common bracket); the mechanical connections are elementary (pinion and crown gear) and easily controllable for effective maintenance.
  • These and other features of the present invention will become more apparent from the following detailed description of practical embodiments thereof shown by way of non-limiting examples in the accompanying drawings, in which:
    • Figure 1 shows a perspective view of a robot lawnmower according to the present invention;
    • Figure 2 shows a front view of the robot lawnmower;
    • Figure 3 shows a top plan view of the robot lawnmower;
    • Figure 4 shows a sectional view according to line IV-IV of Figure 3;
    • Figure 5 shows the enlarged content of circle A of Figure 1.
  • A robot lawnmower 1 comprises a base frame 2, a cover (not shown) associated with the base frame 2, two driving wheels 3 and at least one directional idler wheel 4 (Figures 1-3).
  • Each driving wheel 3 is driven by a respective electric motor 5 by means of a pinion 51 which meshes with a crown gear 32 of the driving wheel 3 (Figures 4 and 5).
  • Motor 5 is fixed to a bracket 7 to which the driving wheel 3 is rotatably fixed by means of a hub 31 which is integral with bracket 7 and extends outwards from bracket 7, as shown in Figure 4, for example.
  • Bracket 7 is integral with the base frame 2 which provides a recess 21 for a cutting deck 22 comprising one or more cutting blades.
  • The axis of hub 31 corresponds to the rotation axis X2 of the driving wheel 3, wherein the driving wheel 3 is rotatably mounted on hub 31 by means of a bearing 33 (Figure 4).
  • The rotation axis X1 of pinion 51 is parallel to the rotation axis X2 of the driving wheel 3 but separate therefrom, i.e. motor 5 is not in axis with the driving wheel 3, i.e. motor 5 is off-axis with respect to the driving wheel 3.
  • As apparent in Figure 4, the rotation axis X1 of pinion 51 coincides with the rotation axis of the crankshaft of motor 5, i.e., advantageously complicated transmissions are not provided between the crankshaft of motor 5 and pinion 51 which directly receives the rotary driving motion of the crankshaft of motor 5 without changing the rotation axis.
  • Bracket 7 extends upwards so that motor 5 can be mounted in a high position of bracket 7, extending inwards, above the base frame 2, in particular above recess 21.
  • The driving wheel 3, driven in rotation by pinion 51 which engages the crown gear 32, rotates on hub 31 which is fixed to bracket 7. Alternatively, hub 31 may be integral with the driving wheel 3 and rotate with respect to bracket 7, i.e., the position of the bearing 33 may vary, motor 5 in any case remaining off-axis.
  • Advantageously, the sizes of recess 21 in which the cutting deck 22 is accommodated are not affected by the presence of the motors 5 adapted to drive the driving wheels 3.
  • Therefore, the robot lawnmower 1 may be designed with the cutting deck 22 centered between the driving wheels 3, with an optimal distribution of the weight and reduced longitudinal sizes of the robot lawnmower 1.
  • Advantageously, a robot lawnmower 1 with reduced sizes is obtained, cutting deck 22 sizes being equal, with performing motors 5 which do not affect the volume on the ground of the robot lawnmower 1.
  • The connection to the base frame 2 is simple (by means of a common bracket 7); the mechanical connections are elementary (pinion 51 and crown gear 32) and easily controllable for effective maintenance.
  • The advantages described above remain in the case where means for damping bumps are to be provided in the connection area between bracket 7 and the base frame 2, for example a movable slide in a guide integral with the base frame 2, in which the slide is integral with bracket 7 and is kept in equilibrium by elastic means.
  • Alternatively, bump damping means may be provided which allow the rotation of bracket 7 (and therefore of the driving wheel 3) with respect to the base frame 2, with elastic means adapted to keep bracket 7 in equilibrium.
  • Alternatively, the damping means may be associated with the cover by means of the connection between the cover and the base frame 2.

Claims (4)

  1. Robot lawnmower (1) comprising a base frame (2), two driving wheels (3) and at least one directional idler wheel (4), wherein each driving wheel (3) is driven by a respective electric motor (5),
    characterized in that
    each motor (5) comprises a pinion (51) which meshes with a crown gear (32) of the driving wheel (3), wherein the rotation axis (X1) of the pinion (51) coincides with the rotation axis of the crankshaft of the motor (5),
    wherein the motor (5) is fixed to a bracket (7) to which the driving wheel (3) is rotatably fixed,
    wherein the rotation axis (X1) of the pinion (51) is parallel to the rotation axis (X2) of the driving wheel (3) but distinct therefrom, the motor (5) being off-axis with respect to the driving wheel (3).
  2. Robot lawnmower (1) according to claim 1, characterized in that the bracket (7) extends upwards so that the motor (5) is mounted in a high position of the bracket (7), extending inwards, above the base frame (2), above a recess (21) of the base frame (2) in which a cutting deck (22) is housed.
  3. Robot lawnmower (1) according to claim 1 or 2, characterized in that the bracket (7) is integral with the base frame (2).
  4. Robot lawnmower (1) according to any one of the preceding claims, characterized in that the driving wheel (3) is rotatably mounted on the hub (31) by means of a bearing (33).
EP23164541.7A 2022-04-11 2023-03-28 Robot lawnmower with off-axis driving motor Pending EP4260676A1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102022000007133A IT202200007133A1 (en) 2022-04-11 2022-04-11 “Robot lawnmower with off-axis traction motor”

Publications (1)

Publication Number Publication Date
EP4260676A1 true EP4260676A1 (en) 2023-10-18

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EP23164541.7A Pending EP4260676A1 (en) 2022-04-11 2023-03-28 Robot lawnmower with off-axis driving motor

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IT (1) IT202200007133A1 (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1934442A1 (en) * 1969-01-16 1970-07-30 Mowbot Inc Self-propelled, unsystematic or irregular movements performing device
EP0750083A1 (en) * 1995-06-19 1996-12-27 Sweepy International Driving vehicle, specially cleaning robot, in particular for swimming pools with means for automatically changing the driving direction in front of an obstacle
WO2016185127A1 (en) 2015-05-19 2016-11-24 France Reducteurs Transmission, and running vehicle equipped with such a transmission
EP3183949A1 (en) 2015-12-25 2017-06-28 Honda Motor Company Limited Autonomous lawn mower
EP3157803B1 (en) 2014-06-19 2020-05-06 Husqvarna AB Improved robotic working tool
US20210282322A1 (en) * 2020-03-16 2021-09-16 Samsung Electronics Co., Ltd. Robot lawnmower
US11169542B2 (en) 2018-02-02 2021-11-09 Lg Electronics Inc. Moving robot

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1934442A1 (en) * 1969-01-16 1970-07-30 Mowbot Inc Self-propelled, unsystematic or irregular movements performing device
EP0750083A1 (en) * 1995-06-19 1996-12-27 Sweepy International Driving vehicle, specially cleaning robot, in particular for swimming pools with means for automatically changing the driving direction in front of an obstacle
EP3157803B1 (en) 2014-06-19 2020-05-06 Husqvarna AB Improved robotic working tool
WO2016185127A1 (en) 2015-05-19 2016-11-24 France Reducteurs Transmission, and running vehicle equipped with such a transmission
EP3183949A1 (en) 2015-12-25 2017-06-28 Honda Motor Company Limited Autonomous lawn mower
US11169542B2 (en) 2018-02-02 2021-11-09 Lg Electronics Inc. Moving robot
US20210282322A1 (en) * 2020-03-16 2021-09-16 Samsung Electronics Co., Ltd. Robot lawnmower

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Publication number Publication date
IT202200007133A1 (en) 2023-10-11

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